Logging maybe fixed

Iron-Panthers · Dec 6, 2023 · 374b3a2 · 374b3a2
1 parent 098cc25
commit 374b3a2
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Showing 3 changed files with 32 additions and 17 deletions.
diff --git a/src/main/java/frc/robot/subsystems/IntakeIO.java b/src/main/java/frc/robot/subsystems/IntakeIO.java
@@ -2,14 +2,30 @@
 
 import frc.robot.subsystems.IntakeSubsystem.Modes;
 import org.littletonrobotics.junction.AutoLog;
+import org.littletonrobotics.junction.LogTable;
+import org.littletonrobotics.junction.inputs.LoggableInputs;
 
 public interface IntakeIO {
   @AutoLog
-  public static class IntakeIOInputs {
+  public static class IntakeIOInputs implements LoggableInputs {
     public String currentIntakeMode = Modes.OFF.toString();
     public double filterOutput = 0.0;
     public boolean isCone = false;
     public double motorOutput = 0.0;
+
+    public void toLog(LogTable table) {
+      table.put("IntakeMode", currentIntakeMode);
+      table.put("FilterOutput", filterOutput);
+      table.put("IsCone", isCone);
+      table.put("MotorOutput", motorOutput);
+    }
+
+    public void fromLog(LogTable table) {
+      currentIntakeMode = table.getString("IntakeMode", currentIntakeMode);
+      filterOutput = table.getDouble("FilterOutput", filterOutput);
+      motorOutput = table.getDouble("MotorOutput", motorOutput);
+      isCone = table.getBoolean("IsCone", isCone);
+    }
   }
 
   /** Updates the set of loggable inputs. */

diff --git a/src/main/java/frc/robot/subsystems/IntakeIOTalonFX.java b/src/main/java/frc/robot/subsystems/IntakeIOTalonFX.java
@@ -17,15 +17,13 @@
 public class IntakeIOTalonFX extends SubsystemBase {
   private TalonFX intakeMotor;
   private ShuffleboardTab shuffleboard = Shuffleboard.getTab("Intake Subsystem");
-  private IntakeSubsystem intakeSubsystem;
   private LinearFilter filter;
   private double filterOutput;
   private boolean isCone;
   // private final TimeOfFlight coneToF, cubeToF;
 
   /** Creates a new IntakeIOTalonFX. */
-  public IntakeIOTalonFX(IntakeSubsystem intakeSubsystem) {
-    this.intakeSubsystem = intakeSubsystem;
+  public IntakeIOTalonFX() {
 
     intakeMotor = new TalonFX(Constants.Intake.Ports.INTAKE_MOTOR_PORT);
 
@@ -64,7 +62,7 @@ public double getFilterOutput() {
   }
 
   public void updateInputs(IntakeIOInputs inputs) {
-    inputs.currentIntakeMode = intakeSubsystem.getMode().toString();
+    inputs.currentIntakeMode = inputs.currentIntakeMode.toString();
     inputs.filterOutput = getFilterOutput();
     inputs.isCone = getIsCone();
     inputs.motorOutput = getMotorPower();

diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -9,11 +9,11 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.Intake;
 import frc.robot.subsystems.IntakeIO.IntakeIOInputs;
+import org.littletonrobotics.junction.Logger;
 
 public class IntakeSubsystem extends SubsystemBase {
   private final IntakeIO io;
   private final IntakeIOInputs inputs = new IntakeIOInputs();
-  private final IntakeIOTalonFX motorIO = new IntakeIOTalonFX(this);
   private Modes mode;
   private ShuffleboardTab shuffleboard = Shuffleboard.getTab("Intake Subsystem");
 
@@ -24,9 +24,9 @@ public IntakeSubsystem(IntakeIO io) {
     this.io = io;
 
     shuffleboard.addString("Current mode", () -> mode.toString());
-    shuffleboard.addDouble("filter output", () -> motorIO.getFilterOutput());
-    shuffleboard.addDouble("motor output", () -> motorIO.getMotorPower());
-    shuffleboard.addBoolean("is cube intake", () -> motorIO.getIsCone());
+    shuffleboard.addDouble("filter output", () -> inputs.filterOutput);
+    shuffleboard.addDouble("motor output", () -> inputs.motorOutput);
+    shuffleboard.addBoolean("is cube intake", () -> inputs.isCone);
   }
 
   // These modes should probably be in the IntakeIOTalonFX class
@@ -46,32 +46,32 @@ public void setMode(Modes mode) {
   }
 
   public void setIsCone(boolean isCone) {
-    motorIO.setIsCone(isCone);
+    inputs.isCone = isCone;
   }
 
   public double getFilterOutput() {
-    return motorIO.getFilterOutput();
+    return inputs.filterOutput;
   }
 
   public void intakePeriodic(Modes modes) {
 
     switch (modes) {
       case INTAKE:
-        if (motorIO.getIsCone()) {
+        if (inputs.isCone) {
           io.setMotorPower(Intake.INTAKE_CONE_PERCENT);
         } else {
           io.setMotorPower(Intake.INTAKE_CUBE_PERCENT);
         }
         break;
       case OUTTAKE:
-        if (motorIO.getIsCone()) {
+        if (inputs.isCone) {
           io.setMotorPower(Intake.OUTTAKE_CONE_PERCENT);
         } else {
           io.setMotorPower(Intake.OUTTAKE_CUBE_PERCENT);
         }
         break;
       case HOLD:
-        if (motorIO.getIsCone()) {
+        if (inputs.isCone) {
           io.setMotorPower(Intake.HOLD_CONE_PERCENT);
         } else {
           io.setMotorPower(Intake.HOLD_CUBE_PERCENT);
@@ -86,15 +86,16 @@ public void intakePeriodic(Modes modes) {
 
   @Override
   public void periodic() {
-    double filterOutput = motorIO.getFilterOutput();
-    if (motorIO.getIsCone() && filterOutput >= Intake.CONE_STATOR_LIMIT) {
+    if (inputs.isCone && inputs.filterOutput >= Intake.CONE_STATOR_LIMIT) {
       mode = Modes.HOLD;
-    } else if (filterOutput >= Intake.CUBE_STATOR_LIMIT) {
+    } else if (inputs.filterOutput >= Intake.CUBE_STATOR_LIMIT) {
       mode = Modes.HOLD;
     }
 
     intakePeriodic(mode);
 
     io.updateInputs(inputs);
+
+    Logger.getInstance().processInputs("Intake", inputs);
   }
 }